基于MR阻尼器高空平台半主动抑振系统研究

STUDY OF VIBRATION SUPPRESSION SYSTEM OF HIGH ALTITUDE PLATFORM BASED ON MR DAMPER

针对自主研发的高空幕墙安装机器人作业平台进行了多维振动的研究。构建了以两自由度并联机构为主体结构,旋转式MR阻尼器为执行器的多维减振系统。采用Lagrange方程建立了减振系统的动力学方程,分析了其振动特性,设计了一种基于磁流变液剪切工作模式的旋转式磁流变阻尼器,分析了磁流变阻尼器的力学特性,对并联机构进行了运动学和动力学分析,并根据机构运动学方程推算出平台位置状态,多维抑振系统快速抑振。借助Matlab对整个系统进行了仿真实验,分析计算了该多维抑振系统的有效性和可行性。

Based on the high attitude platform of building slabstone-installing robot with independent development,research was carried out about multi-DIM vibration. The paper firstly constructs the system with two degrees of freedom parallel mechanism as the main body and rotating MR damper as actuator. The dynamics equation of the vibration system is established by using Lagrange equation. The paper analyzes the vibration characteristics and designs a kind of rotary MR damper based on a shear mode of magneto rheological fluid. The mechanical characteristics of MR damper is analyzed. The kinematics and kinetic analysis of parallel mechanism is done. The multi-DIM vibration suppression works quickly based on the position of platform according to the kinematics equation. Finally the simulation experiment of this system of multi-DIM vibration suppression is introduced with the aid of to calculate and analysis whether the model is effective and feasible.